void FootstepPlanner::profile(FootstepAStarSolver<FootstepGraph>& solver, FootstepGraph::Ptr graph)
{
JSK_ROS_INFO("open list: %lu", solver.getOpenList().size());
JSK_ROS_INFO("close list: %lu", solver.getCloseList().size());
publishText(pub_text_,
(boost::format("open_list: %lu\nclose list:%lu")
% (solver.getOpenList().size()) % (solver.getCloseList().size())).str(),
OK);
if (rich_profiling_) {
pcl::PointCloud<pcl::PointNormal> close_list_cloud, open_list_cloud;
solver.openListToPointCloud(open_list_cloud);
solver.closeListToPointCloud(close_list_cloud);
publishPointCloud(close_list_cloud, pub_close_list_, latest_header_);
publishPointCloud(open_list_cloud, pub_open_list_, latest_header_);
}
}
void profile(FootstepAStarSolver<FootstepGraph>& solver, FootstepGraph::Ptr graph)
{
ROS_INFO("open list: %lu", solver.getOpenList().size());
ROS_INFO("close list: %lu", solver.getCloseList().size());
}